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Automatic parking path planning and tracking control method and device, storage medium and computer equipment

An automatic parking and tracking control technology, which is applied in the direction of control devices, transportation and packaging, and vehicle parts, can solve the problems of high failure rate, large impact on segmented trajectory accuracy, and inability to ensure dynamic adjustment of parking trajectory. Accuracy, the effect of eliminating accumulated motion errors

Active Publication Date: 2021-05-14
WUHAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing parking path planning is mainly static planning, and the accuracy of its segmented trajectory is greatly affected by boundary constraints, vehicle kinematics models, and calibration parameters.
Moreover, static planning cannot ensure that the parking trajectory is dynamically adjusted when the vehicle encounters obstacles or changes in environmental conditions during parking, and the failure rate of parking is high.

Method used

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  • Automatic parking path planning and tracking control method and device, storage medium and computer equipment
  • Automatic parking path planning and tracking control method and device, storage medium and computer equipment
  • Automatic parking path planning and tracking control method and device, storage medium and computer equipment

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Embodiment 1

[0048] like figure 1 Shown is the application environment diagram of the automatic parking path planning and tracking control method of the present invention, the automatic parking path planning and tracking control method is applied to the automatic parking path planning system, the automatic parking path planning The system includes a terminal 1 and a server 2, the terminal 1 and the server 2 are connected through a network, the terminal 1 can be a desktop terminal or a mobile terminal, and the mobile terminal can be a mobile phone, a tablet computer, a notebook computer, a portable wearable device etc., the server 2 may be implemented by an independent server or a server cluster composed of multiple servers.

[0049] like figure 2 As shown, in one embodiment, the present invention provides a method for planning and tracking control of an automatic parking path, which is applied to figure 1 Server 2 in is used as an example for illustration, including:

[0050]Acquire pa...

Embodiment 2

[0091] Such as image 3 As shown, the present embodiment provides an automatic parking path planning device, including an acquisition module 3 and a path planning module 4, the acquisition module 3 acquires parking space information and vehicle information, and the parking space information includes the coordinates of the four vertices of the parking space , the vehicle information includes the initial position coordinates of the vehicle, the parking mode of the vehicle, the body length of the vehicle, the width of the vehicle body, the front overhang length of the vehicle and the rear overhang length of the vehicle; the path planning module 4 according to the parking space information, The vehicle information and obstacle information are used to obtain the parking trajectory.

[0092]As a further preferred solution, the acquisition module 3 includes a first acquisition unit 5, a first determination unit 6, a second determination unit 7, a third determination unit 8, a fourth ...

Embodiment 3

[0095] This embodiment provides a computer device, and the computer device may be a server, such as Figure 4 As shown, the computer device includes a processor, a memory, a network interface and a database connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs and databases. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store operation behavior data, commodity information data and the like. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steps of the...

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Abstract

The invention discloses an automatic parking path planning and tracking control method, a planning device, a storage medium and computer equipment, the planning method adopts a dynamic parking trajectory planning method, and the parking trajectory is updated in real time according to positioning information and obstacle information. The invention is adapted to various parking environments to the greatest extent on the premise of meeting boundary constraints and vehicle dynamics constraints. Moreover, according to the planning method, a preview tracking algorithm, closed-loop steering control and speed control are adopted, trajectory points are tracked in a segmented mode, motion accumulative errors are eliminated in real time, and trajectory tracking precision is guaranteed. The distance deviation after parking is not larger than 20 cm, the angle between the center of a vehicle body and the center line of a parking space is not larger than 2 degrees, and the performance requirement of a parking system is completely met.

Description

technical field [0001] The invention relates to the technical field of automobile assisted driving, in particular to a planning and tracking control method of an automatic parking path, a planning device, a storage medium and a computer device. Background technique [0002] With the rapid development of the automobile industry, the functions of automobile auxiliary driving are becoming more and more perfect; the automatic parking function is also one of the functions of automobile auxiliary driving. The current automatic parking system is mainly composed of environment perception module, control decision-making module and execution module. The parking process can be divided into three parts: parking space detection, trajectory planning and trajectory tracking. [0003] At present, the realization of parking trajectory planning is mainly based on the vehicle motion model and the Ackerman angle principle to decompose the parking process into straight lines, arcs, and curves, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W40/12B60W40/02
CPCB60W30/06B60W40/12B60W40/02B60W2552/50B60W2530/201
Inventor 罗浩如杨旭尤虎罗杰
Owner WUHAN UNIV OF TECH
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